81st Annual Meeting of the International Assosiation of Applied Mathematics and Mechanics
Sprache des Tagungstitel:
Due to higher requirements in productivity and cost ef?ciency of production lines, robots and other manipulators have to
move faster. One possibility to ful?ll the mentioned goals is to build lightweight constructions having elastic deformations in
joints and links. The elastic components tend to vibrations and static de?ections. Methods that compensate or minimize these
drawbacks are the focus of this paper.
An articulated robot with 6 joints and ?exibility in joints and links is under consideration. The joints are actuated by DC
motors combined with Harmonic Drive gears which offer high gear ratios but undergo elastic deformations. The links are
?exible in two bending directions and in torsional sense. To achieve ordinary differential equations, a Ritz approach together
with the projection equation is used. The obtained model is used for feedforward and feedback control design.
Based on reference trajectories and on a rigid body model, estimations for the elastic de?ections are calculated. These
de?ections are used to alter the reference trajectory in order to minimize the error of the tool center point. For basic active
damping, non-local curvature feedback is used. Together with PD joint control and the feedforward control, satisfying results
are obtained. Additionally, a sliding control approach is presented. The stiffness of the tool center point is enhanced with the
drawback of less active damping.
Simulation results and measured data are presented and compared.